关键词： robotics   industrial robots   mobile robots   microrobots   nanorobots   miniaturization   computers   nanotechnology   molecular manufacturing  

摘要： The state and prospects of macro-, micro-, and nanorobotics are described. The role of industrial robots in the creation of modern automated production is shown. Developments in the field of mobile robots and examples of their use are given. Miniaturization and molecular manufacturing are addressed as two approaches to nanorobot development.

关键词： SURGICAL robots   PROSTATE surgery   PROSTATE cancer   PROSTATECTOMY   PHYSICIAN practice patterns   COLD therapy  

摘要： Background and Purpose: Robot-assisted radical prostatectomy (RARP) has been performed in Rochester, NY, since 2003. Currently, 10 area urologists perform RARP, and robotic training has become an important component of the residency. We present data describing the timeline for adoption, both in clinical practice and in the residency program. Materials and Methods: We reviewed the operating logs for all surgeons who were performing prostatectomies in all hospitals in Rochester, NY, from 2003 to 2007. We examined the influence RARP had on other treatments, including brachytherapy and cryotherapy. Surgical logs of graduating chief residents were also reviewed. Results: Eleven surgeons in Rochester regularly perform radical prostatectomy (10 perform primarily RARP, one performs only open prostatectomy). Three of the city's four hospitals have robotic systems. In 2003-2004, there were 30 open prostatectomies performed monthly and fewer than 10 performed robotically. By 2006, the trend was reversed, with 50 robot-assisted prostatectomies performed each month and fewer than 10 open prostatectomies (P < 0.05). The rate of brachytherapy fluctuated, increasing in centers without a robot. The number of open prostatectomies in centers without a robot dropped significantly to fewer than 10 cases per year. There was also a significant decrease in the number of open prostatectomies performed by chief residents. Conclusions: Since the introduction of surgical robotics, significant changes have been seen. The volume of radical prostatectomies performed by surgeons at institutions with robotics has increased;the volume at robot-free institutions has become nominal. There is a trend toward increased radiation therapy at robot-free institutions. While radical prostatectomies logged by graduating chief residents have increased, open prostatectomy experience is now minimal.

关键词： 非完整移动机器人   点镇定   位姿误差模型   Backstepping   神经动力学  

摘要： 以非完整移动机器人为控制对象,围绕机器人运动控制中重要的点镇定问题进行深入研究.本文在考虑移动机器人模型和极坐标系下的位姿误差模型基础上,提出一种Backstepping与神经动力学相结合方法,设计具有渐近稳定的点镇定控制器.该控制方法能有效解决因初始误差存在而引起的速度和力矩突变问题,使机器人从静止状态快速收敛到任意参考点,实现机器人各种期望位姿的有效镇定.通过计算机仿真验证所提出控制规律的有效性.

关键词： 机器人竞赛   教学与管理   中小学   实验   课外活动   青少年   学生   学校  

摘要： 2002年起，笔者所在学校开展机器人课外活动并组织小范围学生参加一系列青少年机器人竞赛．

关键词： 架空输电线路   除冰机器人   越障   运动学   动力学   仿真  

摘要： 基于高压输电线路巡线机器人的研究,结合高压输电线路上覆冰的去除方法,设计了一种新型的高压输电线路除冰机器人。采用ADAMS软件对该机器人进行了运动学、动力学分析及仿真。结果表明,该机器人能在输电线上稳定地行走,并能较好地解决自主越障的问题,可完成输电线上的除冰任务。

关键词： 学术研讨会   智能机器人   中国   人工智能  

摘要： 由中国人工智能学会主办的＂第九届中国智能机器人学术研讨会＂将于2011年11月11—13日在深圳召开。

关键词： 履带式移动机器人   滑移速度   非完整动力学模型  

摘要： 针对目前履带式地面移动机器人系统的建模、仿真和控制研究很不完善的问题,将移动式模块化的机械手做一个整体结构考虑,建立了一种非完整约束的履带式机器人系统模型。运用极限理论进行了正向运动学分析;考虑履带与地面的相互作用因素,对移动机器人进行了转向动力学分析,以求得滑转率曲线;利用机器人Lagrange动力学方法和非完整动力学Routh方程建立了精确的履带式地面移动机器人动力学模型;将模型求解出的驱动力曲线与经典计算方法得出的结论相对比。研究结果验证了所建数学模型的可行性。

关键词： 电脑机器人   竞赛活动   指导教师   中小学   湖北省   培训班   武汉   教师培训  

摘要： 3月23日至25日,2011年湖北省中小学电脑机器人竞赛暨第十二届全国中小学电脑制作活动竞赛类项目湖北省选拔赛指导教师培训活动在武汉举行。来自全省各地的100多名中小学电脑机器人竞赛指导教师和部分电化教育馆（站）负责人参加了此次培训活动。

关键词： 套装式助力机器人   动力学   控制模型   仿真  

摘要： 针对老年人或者下肢功能较弱患者自主行走存在一定困难的问题,研究了一种能够辅助其行走的套装式助力机器人。机器人工作时绑缚在人体上,为行走提供动力。机器人左右对称,单侧机构包括髋关节和膝关节两部分,分别由直流电机驱动丝杠螺母机构的电动缸实现。基于Matlab/Simulink和SimMechanics建立了套装式助力机器人的动力学模型和控制模型,机器人采用PD控制器进行位置控制。最后,进行了机器人单关节阶跃响应仿真、空载轨迹仿真和带负载轨迹仿真研究。仿真结果表明设计的机器人满足性能指标要求。

关键词： ROBOTICS   ROBOTS   COMPETITIONS  

摘要： The article announces that Team Michigan from the University of Michigan in the U.S. has won the inaugural Multi Autonomous Ground-robotic International Challenge (MAGIC 2010) in Australia, with a squad of 14 robots working seamlessly together. It cites that the robotics challenge is jointly sponsored by Australia's Defence Science and Technology Organisation and the U.S. Army Research, Development, and Engineering Command to further the development of autonomous robot teams. A team from the University of Pennsylvania is said to have won second place.